#!/bin/bash
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# 快速开始脚本 - Linux/macOS
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echo "=========================================="
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echo "车辆运动模型校准 - 快速开始"
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echo "=========================================="
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# 检查Python依赖
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echo "检查Python依赖..."
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python3 -c "import serial, numpy, scipy, matplotlib" 2>/dev/null
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if [ $? -ne 0 ]; then
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echo "安装依赖..."
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pip3 install pyserial numpy scipy matplotlib
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fi
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# 提示用户连接硬件
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echo ""
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echo "请确认："
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echo "1. 车辆已放置在空旷场地"
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echo "2. UART5已连接到电脑"
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echo "3. GPS/IMU工作正常"
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echo ""
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read -p "按回车继续，或Ctrl+C退出..."
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# 检测串口
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echo ""
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echo "可用串口："
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if [ "$(uname)" = "Linux" ]; then
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ls /dev/ttyUSB* 2>/dev/null || echo "未找到USB串口"
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ls /dev/ttyACM* 2>/dev/null
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read -p "请输入串口号 (例如 /dev/ttyUSB0): " PORT
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else
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echo "请手动输入串口号"
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read -p "串口号: " PORT
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fi
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# 记录数据
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echo ""
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echo "=========================================="
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echo "步骤1: 数据记录"
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echo "=========================================="
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echo "现在将启动数据记录..."
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echo "请在车辆上："
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echo " 1. CH8拨到 < 1500"
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echo " 2. CH7拨到 > 1800"
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echo " 3. 等待48秒测试完成"
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echo ""
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read -p "按回车开始记录..."
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python3 tools/calibration_logger.py -p "$PORT"
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# 查找最新的日志文件
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LOGFILE=$(ls -t calibration_*.log 2>/dev/null | head -1)
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if [ -z "$LOGFILE" ]; then
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echo "错误：未找到日志文件"
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exit 1
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fi
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echo ""
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echo "日志文件: $LOGFILE"
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# 分析数据
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echo ""
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echo "=========================================="
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echo "步骤2: 数据分析"
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echo "=========================================="
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read -p "按回车开始分析..."
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python3 tools/calibration_analyzer.py "$LOGFILE"
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# 显示结果
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echo ""
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echo "=========================================="
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echo "完成！"
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echo "=========================================="
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echo "输出目录: calibration_results/"
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echo ""
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echo "生成的文件："
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echo " - calibration_parameters.json (参数文件)"
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echo " - *.png (可视化图表)"
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echo ""
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echo "下一步："
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echo " 1. 查看 calibration_results/calibration_parameters.json"
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echo " 2. 复制 recommended_config 中的参数"
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echo " 3. 更新到 STM32H743/FML/motion_config.h"
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echo " 4. 重新编译、烧录、测试"
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echo ""
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